... knowl-edge of different disciplines. Among these, electrical engineering, mechanicalengineering, industrial engineering, computer science and applied mathemat-ics. Hence, robotics incorporates a variety ... chapter explaining, in gen-eral terms, what robot control involves. It contains a chapter on preliminarieswhich presents in a considerably detailed manner the main mathematical con-cepts and tools ... 9For robots moving freely in their workspace, i.e. without interacting withtheir environment (cf. Figure 1.1) as for instance robots used for painting,“pick and place”, laser cutting, etc., the...